Monitoring and automatic equipment control systems

ABSTRACT

The present invention relates to monitoring and automatic control systems.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 10/783,131, filed Feb. 20, 2004, entitled “MONITORING ANDAUTOMATIC EQUIPMENT CONTROL SYSTEMS,” which claims priority, under 35U.S.C. §119(e), to U.S. provisional patent application Ser. Nos.60/448,793, filed on Feb. 21, 2003, entitled “EXTERIOR LIGHT CONTROLASSEMBLY,” and 60/495,906, filed on Aug. 18, 2003, entitled “IMAGEACQUISITION AND PROCESSING SYSTEM.” The disclosures of these patentapplications are incorporated herein in their entireties by reference.

BACKGROUND

Vehicle monitoring and automatic equipment control systems have beenproposed that incorporate image sensor technology. Typically, thesesystems are configured to acquire images of a desired scene and presentthe images to a vehicle driver and, or, occupant on a display. Oftentimes these systems additionally, or in lieu of a display, process theelectronic image information to automatically control vehicle equipment.

What are needed are improved vehicle monitoring and automatic equipmentcontrol systems.

SUMMARY

Vehicle monitoring and automatic equipment control systems in accordancewith the present invention provide improvements to known systems. In atleast one embodiment, a vehicle monitoring and automatic equipmentcontrol system incorporates a number of discrete components intointegrated devices.

In at least one embodiment an improved imager is provided.

In at least one embodiment an improved enhanced transceiver is provided.

In at least one embodiment an improved imager interconnection with amother board and, or, daughter board is provided.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 depicts a plan view of a controlled vehicle relative a leadingvehicle, an oncoming vehicle and another vehicle on a roadway;

FIG. 2 depicts a plan view of an embodiment of a controlled vehicle;

FIG. 3 a depicts a perspective view of an embodiment of an accessory andrearview mirror assembly;

FIG. 3 b depicts a second perspective view of the accessory and rearviewmirror assembly of FIG. 3 a;

FIG. 4 depicts a block diagram for an embodiment of an automaticequipment monitoring and control system;

FIG. 5 a depicts a plan view of an embodiment of a mother board, adaughter board and an imager board interconnected with one another;

FIG. 5 b depicts a second plan view of the opposite side of the motherboard and daughter boards of FIG. 5 a;

FIG. 6 a depicts an embodiment of an imager board and interconnectingcable;

FIG. 6 b depicts a second view of the imager board and interconnectingcable of FIG. 6 a with typically enclosed, non-visible, portions of theinterconnecting cable exposed;

FIG. 7 a depicts a block diagram of an embodiment of an imager;

FIG. 7 b depicts an embodiment of an image sensor and temperaturesensor;

FIG. 7 c depicts imager related signal waveforms;

FIG. 7 d depicts an imager command/response sequence;

FIGS. 7 e and 7 f depict a temperature sensor;

FIG. 8 a depicts a block diagram of an embodiment of a low voltagedifferential signal device with memory;

FIG. 8 b depicts an exploded view of an embodiment of a silicon wafercomprising a low voltage differential signal device with memory, wirebonds and external connection pins;

FIG. 8 c depicts the pin configuration for an embodiment of a lowvoltage differential signal device with memory;

FIG. 8 d depicts processor signal waveforms;

FIG. 8 e depicts LVDS signal waveforms;

FIGS. 9 a-9 j depict various imager and processor configurationembodiments;

FIG. 10 depicts a plan view of a second embodiment of a mother board, abreakaway board and an imager board interconnected;

FIG. 11 a depicts a plan view of a third mother board; and

FIG. 11 b depicts a second plan view of the mother board of FIG. 11 a.

DETAIL DESCRIPTION

Electronic image sensors vision systems and related automatic controlsystems have many potential applications in automobiles. For example,automatic vehicle exterior light control systems have been developedutilizing generally forward looking image sensors to detect the presenceof other vehicles and automatically control exterior lights of acontrolled vehicle to avoid imposing glaring light rays upon otherdrivers. Several other applications have been proposed or developedincluding: moisture sensing, adaptive cruise control, accidentreconstruction systems, blind spot warning, night vision systems, rearvision systems, collision avoidance systems, lane departure warningsystems, security systems, cabin monitoring systems, and others.

Such systems can generally be divided into two categories, those with aprimary purpose of presenting an image, or series of images, to thedriver of a controlled vehicle and those in which an image, or series ofimages, is analyzed by a processor in order to automatically performsome vehicle equipment related function. Some systems may provide bothfunctions and in other systems a processor may enhance or augment adisplayed image. In either case, it is almost always necessary totransmit an image signal from an imager to a processor and, or, display.In many embodiments of the present invention the transmitted image is adigitized image signal.

In some applications, the processor, and, or display to which the imageis transmitted is located some distance from the imager. For example,consider an embodiment of an automatic vehicle exterior light controlsystem integrated into an automatic dimming rear-view mirror. The imageris preferably located in an accessory module mounted to an attachmentmember to insure that the aim of the imager remains independent of arearview mirror aim adjustment as disclosed in commonly assigned U.S.patent application Attorney docket AUTO 211 US3 and U.S. ProvisionalPatent application Ser. No. 60/448,793. A processor is preferablylocated on a mother board housed in the mirror housing. The processormay be configured to perform additional functions such as controllingthe reflectance of an electro-optic mirror element, a compass, a voicerecognition processor, a telemetry system, a telephone, an informationdisplays, an information display driver, operator interfaces indicators,or the like. The image data must be transmitted from the imager board tothe mother board on which the processor is located. Other examples ofremote imager locations are readily apparent. One or more image sensorsmay be located in various places in, or on, a controlled vehicle tomonitor various fields of view. These imagers may transmit data to oneor more processors centrally located or distributed throughout thevehicle. These image sensors may transmit images to one or more displaysthat may be located in convenient viewing positions for the driver and,or, occupants.

In the environment of a typical vehicle, it is desirable to manageelectromagnetic interference (EMI). This includes both limiting theradiated emissions from an electronic device, as well as, insuring thatthe device is not susceptible to emissions from other sources. Stringentrequirements are often imposed by automobile original equipmentmanufactures (OEMs) that require testing and measuring emissions from adevice as well as tests in which a device is subjected to anelectromagnetic field to insure the device does not malfunction.

Designing an electronic vision system to meet these requirements is adifficult challenge. This is due largely to the high data ratesassociated with transmitting digital images. A typical electronic imagesensor may contain anywhere from a few thousand to over a millionpixels, each of which having an output that is typically digitized at 8or 10 bits. In many of the applications described herein, several imagesare acquired and transmitted every second. This results in digital datatransmission rates from several kilo-bauds to several mega-bauds. Thishigh data transmission rate can produce high levels of electromagneticradiation. One method to reduce the data transmission rate is disclosedin commonly assigned U.S. patent application Attorney docketGEN10PP-447, entitled One-Zero Serial Communication, filed on Dec. 19,2003, the entire disclosure of which is incorporated herein in itsentirety by reference. The mother board/imager board interconnectionsdescribed herein provide additional electromagnetic interferenceadvantages.

In many cases it is desirable to have multiple vision systems performingmultiple functions or multiple image sensors providing multiple views tothe driver. For example, a driver would benefit from having both anautomatic exterior light control system and a moisture sensing system toautomatically control a vehicle's exterior lights its windshield wipersand, or, defogger. Automatic vehicle exterior light control systems aredescribed in commonly assigned U.S. Pat. Nos. 5,990,469, 6,008,486,6,130,421, 6,130,448, 6,255,639, 6,049,171, 5,837,994, 6,403,942,6281,632, 6,281,632, 6,291,812 and U.S. patent application Ser. Nos.09/448,364, 09/538,389, 09/605,102, 09/678,856, 09/800,460, 09/847,197,09/938,774, 09/491,192, 60/404,879, 60/394,583, 10/235,476, 10/208,142,the disclosures of which are incorporated in their entireties herein byreference. Automatic moisture sensing systems are described in commonlyassigned U.S. Pat. Nos. 5,923,027 and 6,313,457 and U.S. patentapplication Ser. Nos. 09/970,962 and 09/970,728, the disclosures ofwhich are incorporated in their entireties herein by reference.

An imager for an automatic exterior light control system is preferablyfocused for far-field imaging to detect headlights of oncoming vehiclesand taillights of leading vehicles and further preferably has colordiscrimination capability to distinguish red light sources from otherobjects. An imager for a moisture sensing system is preferably focusedon the windshield (near field) to image the moisture and preferably hasa wide field of view. One option to solve these conflicting requirementsis to provide a variable lens that can be switched to perform eachfunction. Another option is to provide a lens with high depth of fieldthat images both near-field moisture and far-field light sources.Complex software methods are typically employed when such lens systemsare incorporated to distinguish near and far field objects.

To optimally perform both functions it is advantageous to employ twoseparate imagers, each with optics designed for a specific function. Atleast one embodiment of the present invention provides an economicallyefficient method of sharing substantially all support electronics andmechanical structures to allow a second imager to be added very costefficiently. The incremental cost for the second imager may be the costof the image sensor and optics, which is typically a small fraction ofthe total cost. Other applications requiring multiple imagers usestereoscopic vision wherein two imagers are used spaced apart from oneanother to provide capability for accurate distance measurement ofobjects. The techniques presented herein are also advantageous for theseapplications. Finally, the techniques of the present invention may alsobe used to add a third or more imager.

Turning now to FIG. 1, an embodiment of a controlled vehicle 105 havingan accessory and rearview mirror assembly 106, exterior light rays 107and a glare area 108 is depicted on a divided highway 100. Thecontrolled vehicle is shown in relationship to a leading vehicle 110having taillight rays 111 and an oncoming vehicle 115 having headlightrays 116.

With additional reference to FIG. 2, an embodiment of a controlledvehicle 205 is depicted as comprising an accessory and rearview mirrorassembly 206. The controlled vehicle also has a driver's side rearviewmirror assembly 210 a and a passenger's side rearview mirror assembly210 b. Preferably, the rearview mirror assemblies comprise electro-opticmirror elements as described in many commonly assigned U.S. patents andpatent applications. The controlled vehicle further comprises headlightassemblies 220 a, 220 b; front foul weather lights 230 a, 230 b; frontturn signal/hazard indicators 235 a, 235 b; taillight assemblies 225 a,225 b; rear turn signal indicators 226 a, 226 b; rear hazard indicators227 a, 227 b; backup indicators 240 a, 240 b and a center high mountedstop light (CHMSL). Preferably, the headlight assemblies are bi-xenonand, or, repositionable. It should be understood that the controlledvehicle may comprise additional exterior lights, may comprise variouscombinations of the exterior lights depicted in FIG. 2 or may combineany of the exterior lights shown in FIG. 2 with additional exteriorlights. It should be understood that any of the exterior lights may beprovided with dimming means, repositioning means, focusing means, colorchanging means, aiming means or combinations thereof for altering anassociated exterior light characteristic. With further reference to FIG.2, the controlled vehicle comprises A-pillars 250 a, 250 b; B-pillars255 a, 255 b and C-pillars 260 a, 260 b. It should be understood thatany of the lighting assemblies, rearview mirror assemblies, pillars orcombinations thereof provide suitable mounting locations for additionalimagers, or for an imager in lieu of, an imager in the accessory andrearview mirror assembly 206. It should be understood that any imagerassembly may comprise a repositioning means for selectively obtainingalternate desired fields of view with a single imager. An imager may beconfigured to be automatically repositioned as a function of at leastone pitch sensor, at least one yaw sensor, at least one steering sensor,at least one speed sensor, any one thereof, a subcombination orcombination thereof.

Turning now to FIGS. 3 a and 3 b, there is shown an embodiment of anaccessory and rearview mirror assembly 306 a, 306 b. The accessory andrearview mirror assembly comprises a stationary housing 377 a, 377 b anda repositional mirror housing 375 a, 375 b mounted to an attachmentmember 381 a, 381 b. Preferably, the stationary housing contains atleast one imager board, at least one processor, at least one compasssensor, at least one supplemental light source, at least one moisturesensor, at least one automatic exterior light control circuit, at leastone microphone, at least one speaker, any one thereof, a sub-combinationthereof or combinations thereof. Preferably, the repositional mirrorhousing 375 a, 375 b contains an electro-optic mirror element 322 a, atleast one electro-optic mirror element automatic drive control circuit,a daytime running light automatic control circuit, an automatic exteriorlight control circuit; at least one information display 388 a, 389 a, atleast one glare light sensor 396 a, 397 a, at least one indicator 386 a,387 a, at least one operator interface 391 a, at least one microphone365 b, at least one ambient light sensor 387 b, at least one wireharness 398 b and at least one vehicle equipment connector 399 b. Theaccessory and rearview mirror assembly may also comprise a bezel 390 band, or, an extended viewing area mirror element 345 a. It should beunderstood that a wire harness 398 b may be routed out of therepositional mirror housing 375 a, 375 b, through a first pivot ball 376b 1, mounting stem 376 b 2 and through a second pivot ball (not shown)into the stationary housing 377 a, 377 b.

With reference now to FIG. 4, there is depicted a block diagram of anembodiment of an automatic vehicle equipment control system 400. As canbe seen, an imager 405 is configured to communicate with a processingand control system 410 via a communication interface 415. It should beunderstood that the communication interface may be hardwired, radiofrequency, fiber optics, light ray, sub-combinations thereof orcombinations thereof. The processing and control system comprises atleast one processor 420, at least one ambient light sensor, at least oneglare light sensor 430, at least on electro-optic mirror elementautomatic drive control circuit 435, at least one electro-optic mirrorelement automatic drive control output 440, at least one informationdisplay output 445, at least one exterior light status indicator output450, at least one pedestrian/bicyclist status indicator output 455, atleast one pedestrian/bicyclist indicator override switch input 460, atleast one windshield wiper and, or, defogger output 465, a controlledvehicle speed input 470, at least one electro-optic element reverseoverride input 475, at least one automatic/on/off switch input 480, atleast one manual dimmer switch input 485, at least one vehicle businterface 490, at least one exterior light controller output 491, atleast one compass sensor input 471, any one thereof, a subcombinationthereof or a combination thereof. The exterior light controller 495 maycomprise a plurality of individual outputs 496 for independent controlof various exterior lights 499. It should be understood that additionalcomponents, inputs and outputs may be provided and, or, individualcomponents may be integrated with one another in subassemblies. Forexample, an exterior light assembly may comprise at least one light raysource, a repositioning means, a focusing means, an aiming means, acolor changing means, a light ray emission control means, etc. Theexterior light assembly may be configured to connect to a processing andcontrol interface, such as a vehicle bus or the like, and to a vehicleelectrical power source. It should be understood that a plurality ofvehicle equipment sensor outputs are available from a vehicle datacommunication bus. It is preferable to acquire any desired sensor datafrom these otherwise available vehicle devices.

Turning to FIGS. 5 a and 5 b, an embodiment of an automatic vehicleequipment control system assembly 500 a, 500 b is depicted to include amother board 505 a, 505 b, an imager board male receptacle connector 506a, a vehicle equipment male receptacle connector 507 a, 507 b, aprocessor 508 a, an enhanced transceiver 509 a, a vehicle buscommunication chip 510 a, an ambient light sensor 511 a, a glare lightsensor board 512 a, a glare light sensor 513 b, compass sensors 514 a, afirst indicator 515, a second indicator 516, operator interface contacts517, operator interface indicators 518 and third indicator 519.

The mother board is connected to a daughter board 520 a, 520 b via amother board/daughter board interconnection 525 a, 525 b. The daughterboard comprises an information display driver 522 b and an informationdisplay 521 b. As can be seen, the glare sensor board and the daughterboard have at least one component that is oriented such that it faces anopposite direction from the components mounted directly to the motherboard. It should be understood that the components of the glare sensorboard and the daughter board may be mounted directly to the mother boardon an opposite side from other mother board components. Theconfiguration depicted in FIGS. 5 a and 5 b is preferred formanufacturing processes related to this embodiment. It should beunderstood that the daughter board may be connected to the mother boardsimilar to the imager board connection, via a radio frequency wirelessinterconnection, a fiber optic interconnection, a vehicle businterconnection, a light ray interconnection or a combination thereof.The hard wire interconnection may be via a substantially flat, ribbontype, configuration; cables with individually shield twisted pairs;multiple individual cables or non-shielded conductors.

The mother board is also connected to an imager board 535 a via a motherboard/imager board interconnection 545 a. The imager board comprises amother board male receptacle connector 536 a, an imager 537 a, a lenscover 538 a, a data LVDS 539 a, a clock LVDS 540 a, and lenses 541 a.The interconnection 545 a comprises an imager board female plugconnector 547 a, a mother board female plug connector 546 a having amechanical clip for snap interlock with the mating mother board malereceptacle connector 506 a and a ground connector 548 a. It should beunderstood that said imager board may comprise an imager board heater(not shown) configured to maintain the temperature of the imager boardabove ambient. This configuration is beneficial to inhibit condensationand the like from forming on an imager. It should be understood that theimager board heating may be on continuously or may be configured to beautomatically controlled; for example, the temperature sensor on boardthe imager may be configured to operate an on board output such that noadditional lines from a mother board to the imager board are required.

Turning now to FIGS. 6 a and 6 b, there are shown two embodiments ofimager boards as elements 635 a, 635 b with mother board/imager boardinterconnections 645 a, 645 b. The imager board 635 a is similar toimager board 635 b aside from the fact that the data and clock LVDSs areintegrated into the imager 637 a. In preferred embodiments, the imagermay have at least one of: an image sensor logic and control circuit; ananalog-to-digital converter; a temperature sensor; an LVDS; a voltageregulator; a control output integrated on a common wafer with an imagesensor. The mother board/imager board interconnection comprises a motherboard female plug connector 646 a, 646 b with a mechanical clip 654 b,an imager board female plug connector 647 a, 647 b, a first boot 650 a,650 b, a second boot 661 a, a jacket 661 b, a foil shield 649 b, aground connector 648 a, 648 b, a ground conductor 651 b, a first groundinsulation 652 b, a second ground insulation 653 b, a positive conductor655 b, a reference conductor 656 b, a second ground conductor 657 b, afirst twisted pair 658 b, a second twisted pair 659 b and a NSSconductor 660 b. It should be understood that the imager board may beconnected to the mother board similar to the daughter board connection,via a radio frequency wireless interconnection, a fiber opticinterconnection, a vehicle bus interconnection, a light rayinterconnection or a combination thereof. A hardwire interconnection maybe via a substantially flat, ribbon type, configuration; cables withindividually shield twisted pairs; multiple individual cables ornon-shielded conductors depending on the length, whether or not theconductors are within a “through the ball” configuration.

With reference to FIGS. 7 a and 7 b, an imager 737 a, 737 b is depictedto comprise: an image sensor 765 a, 765 b; temperature sensors 770 a,770 b; dark pixels 798 b; guard pixels 799 b; image sensor logic andcontrol circuit 766 a; a pipelined analog-to-digital converter 767 a; a1-32× gain stage 768 a; LVDS I/O 769 a; voltage regulators 771 a; acrystal oscillator interface 772 a; analog column 773 a; row decoders774 a; column decoders 775 a; a reset boost 776 a; digital-to-analogconverters 777 a; voltage/current references 778 a; a 5V V_(DD)connection 779 a; a MISO (for test) connection 780 a; a MOSI connection781 a; an SPSCLK connection 782 a; an NSS connection 783 a; an OSC+connection 784 a; an OSC− connection 785 a; a data out line 786 a;control signals 787 a for pipelined analog-to-digital converter 767 a;control signals for biases 788 a; power down 788 a; control signals 789a for digital-to-analog converters 777 a; a row number line 790 a; a rawanalog line 791 a; control signals 792 a; a column number line 793 a; again control line 794 a; amplified signals 795 a; a 3.3V V_(DD) line 796a and a 3.3V V_(AA) line 797 a.

Turning to FIGS. 7 e and 7 f, there is shown a block diagram 705 e and aVBE generator 715 e, 715 f. Preferably, the temperature sensors areincorporated into the imager as described herein. Preferably, thetemperature sensor comprises a bandgap 710 e, a V_(BG) line, a V-Iconverter 720 e, an I_(REF) line 721 e, a V_(BE2) line 725 e, a V_(BE1)line 730 e, a reference voltage generator 735 e, a V_(REF) line 740 e, aV_(REFADC) line 745 e, a first column address 750 e, a second columnaddress 755 e, a temperature gain register 760 e, a gain 765 e and anADC 770 e. The VBE generator comprises a first transistor 775 f, asecond transistor 780 f, a third transistor 795 f and PNP structures 785f, 790 f. The current through PNP structure 790 f is a multiple of thecurrent through 790 f, for example, a factor of 64. The difference inthe VBE between 785 f and 790 f is a function of the temperature. TheVBE generator further comprises a Vaa connection 796 f, a vb2 connection797 f, an irefT connection 798 f, an AGND connection 789 f, a sampb_vbe1connection 786 f and a sampb_vbe2 connection 791 f. The analog gain 765e and ADC 770 e are preferably the same devices as 768 a and 767 a,respectively. Therefore, the temperature sensor values are read outidentical to pixel values.

Following is a detail description of a preferred embodiment of animager. As described, the imager incorporates a image sensor,temperature sensors, dark pixels, guard pixels, an image sensor logicand control circuit, voltage regulators, LVDSs, analog-to-digitalconverters, loop back testing features and a control output. The controloutput is particularly useful for moisture sensor applicationsincorporating supplemental illumination.

Example Imager

This document describes an imager designed to meet the requirements ofautomotive locations. The image sensor provides 144 columns and 176 rowsof photodiode based pixels. Control and data signals are communicatedover a Low Voltage Differential Signaling Serial Peripheral Interface(LVDS SPI) connection to a processor. The imager also has provisions forsensing temperature, controlling one output signal, providing voltageregulation to internal components, and some device testing.

Commands provide control of a variety of exposure, mode, and analogsettings. The imager is capable of taking two images simultaneously fromdifferent starting rows, a feature that permits highly synchronizedimages in a dual lens system. In this mode each image can have anindependent gain setting. Another option allows the gains to be appliedin a checkerboard image for applications where a spectral filter isapplied to the image sensor in a checkerboard pattern. The imager alsotransmits a parity byte with the output data so the processor can verifythe reception of the proper data. Data can be transmitted in ten bitmode, a compressed eight bit mode where a ten bit value is representedin eight bits, or a truncated eight bit mode where only the mostsignificant eight bits of each ten bit pixel is transmitted. Table 1depicts a series of specifications for the imager of this example.

TABLE 1 Parameter Value Resolution 176 × 144 Pixel Size 15 μm × 15 μmPixel Type Photodiode Sensitivity 7 V/lux-sec Fill Factor >70% ADCResolution 10-bits ADC Conversion Rate >1 Msamples/sec ADC ReferencesProgrammable Analog Gain 1-32 Programmable Differential Output RS-644I/O Pad Size 100 μm × 100 μm Clock Input <=10 MHz ESD Protection >2 KvSupply Voltage 5.0 + 0.4 v/−0.5 v Voltage Regulator 3.3 V Maximum DataRate 10 Mbits/s, 1 MBytes/sec (eight bit mode) Operating Temperature −40C. to +85 C. Storage Temperature  −40 C. to +125 C. Data Stream ErrorParity Byte Detection Communication Format up to 10 MBit/Sec - SPIMaster/Slave Pixel Data Format selectable - 10 bit, 8-bit compressed ortruncated

Table 2 contains a description for the acronyms shown near variousimager connections in FIG. 7 b.

TABLE 2 SECTION NAME SIG TYPE DESCRIPTION DIR PAD # Oscillator OSC1Crystal Osc Master Clock or cystal pin 1 In 16 OSC2 crystal oscillatorpin 2 Out 17 LVDS I/O VAA_LVDS Power 3.3 V power supply for LVDS In 8VSS_LVDS GND Ground for LVDS In 13 MOSI LVDS Serial Data In/Out(Differential) I/O  9, 10 Note that the MOSI_b signal is the positivesignal with the MOSI signal is the inverted level. SPSCLK LVDS SerialData Clock (Differential) I/O 11, 12 Note that the SPSCLK_b signal isthe positive signal with the SPSCLK signal is the inverted level.Control NSS CMOS Data transfer direction bit In 18 Test MISO/ CMOSOutput signal for testing or Out 19 MSC_OUT illumination control. Can beset steady state, to toggle during integration, or output residual data.VAA_PIX Power Analog input to ADC in test In 22 mode. When not used fortesting, this pin must be connected to 3.3 V. Regulator Vreg_5V Power 5V input supply for regulator In 2 VAA_5V Power 5 V input supply foranalog 3.3 V In 7 supply VDD_5V Power 5 V input supply for digital 3.3 VIn 5 supply GND_5V GND Ground for 5 V regulator supply In 3 VDD_3.3_OPower Digital regulated 3.3 V supply Out 4 output VAA_3.3_O Power Analogregulated 3.3 V supply Out 6 output VG Analog Voltage regulator bias Out1 voltage out for decoupling. Requires a cap to ground. Power VDD_3.3_IPower Digital regulated 3.3 V supply In 14 input GND GND Ground forVDD_3.3 In 15 VAA_3.3_I Power Analog regulated 3.3 V supply In 21 inputVSS GND Ground for VAA_3.3 In 20

Table 3 provides detail of various imager electrical power connections.

TABLE 3 Regulator The following signals must be connected to a 4.5 to5.4 volt supply to Power: operate the chip: VREG_5V, VDD_5V (when usingVDD_3.3_O), and VAA_5V (when using VAA_3.3_O). The corresponding groundis GND_5V. The Pin VG must be connected to a TBD capacitor for thecharge pump to operate properly. LVDS The signals VAA_LVDS must beconnected to a 3.3 ± TBD volt supply to Power: operate the chip. Thesignal VSS_LVDS is the LVDS ground. Analog The signals VAA_3.3_I must beconnected to the VAA_3.3_O or other 3.3 ± Power: TBD volt supply tooperate the chip. The signal VSS_3.3 is the analog ground. Digital Thesignals VDD_3.3_I must be connected to the VDD_3.3_O or other 3.3 ±Power: TBD volt supply to operate the chip. The signal GND is thedigital ground. Pixel The signals VAA_PIX must be connected to theVAA_3.3_O or other Power 3.3 ± TBD volt supply to operate the chip whennot in ADC test Mode (See below).

Table 4 provides detail of various imager operational connections.

TABLE 4 NSS: Serial data direction input. 0 = write to sensor, 1 = readfrom sensor. The NSS signal needs to be asserted low for at least 6oscillator cycles (0.6 μseconds with a 10 MHz clock) before starting thecommand transmission. NSS must be held low for at least 10 oscillatorcycles (1 μsecond at 10 MHz) after transmission completes. SPSCLKBi-directional LVDS serial clock (direction determined by NSS), wheredata is clocked (valid) on rising edge for input and output. The SPSCLKsignal must be set high before each transition of NSS and must remainhigh for at least 6 camera oscillator cycles after the transition. (0.6μseconds at 10 MHz). MSC_OUT Miscellaneous output pin. Can be toggledduring integration time or (MISO): set to a specified level, also cansend the residual registers from a previous image while sending an imagecommand. Refer to the command bits tst, oba, and obb in byte 0 of thecommand string. MOSI: Bi-directional LVDS serial data (directeddetermined by NSS). Data is sent most significant bit first.

Table 5 provides detail of various imager test connections.

TABLE 5 VAA_PIX: This pin can be used to input a voltage directly intothe ADC during testing when ADCtest (bit 5 of byte 3) of the commandsequence is set. When this bit is not set this pin must be connected to3.3 volts.

The imager is controlled by an 18 byte serial command described hereinwith reference to Table 6. These commands are sent from the processorwith the NSS line held low. The imager then gathers the requested imageand sends the resulting pixel data followed by a parity byte.

TABLE 6 Command Summary Name bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1bit 0 Control tst ckbd tbo cbo obb oba rsh sfm idac_iadc_Id idac_iadc_Ididac_ibias_Id Unused idac_ibias_Id voffset_Id psfd 1 psfd 0 adctestVoffse_Idt Vreflo ffs irr iad cont Vreflo_Id Gain 1 Gain 1 Gain 2 Gain 2NumFrames Number of Frames (ones compliment/twos compliment if start row= last row) NumIntegrationFrames Number of Integration Frames (onescompliment) LastRow Last Row of Image StartRow Row Read Counter StartValue (Integration Rows = LastRow-StartRow) FirstRow First Row of ImageRowOffset Row Offset of Second Frame from First Frame LastColumn LastColumn Scanned ResetColumn Column Read Counter StartValue (Int. Pixels =LastColumn-ResetColumn) LastReadColumn Last Column of Image FirstColumnFirst Column of Image ColumnOffset Column Offset of Second Frame

The imager can be operated with either an up to 10 MHz oscillatorconnected to OSC1, or an appropriate resonator circuit connected acrossOSC1 and OSC2 as shown in the Figs. FIG. 7 c depicts the imager serialperipheral interface data timing. FIG. 7 d depicts the imager commandand data sequence and timing.

With reference to Tables 7-11, each bit (bits 0-7) of each byte (bytes0-17) of the 18 byte serial imager command set is described.

Byte 0: Control Byte

TABLE 7 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 tst ckbd tbo CboObb Oba rsh sfm

Description:

Used to set control bits for test modes, gain control pattern, outputformat, integration time, and dual frame mode.

tst: Test. Causes the residue from the previous instruction to be senton the spcl_pin_out as the current instruction is received. The residuecontains the values of the command stream including the revised frame,row and column counters after an image is taken.

ckbd: “Checkerboard pattern.” Causes the pixel gain to be set to gain_1when the exclusive or of the least significant bits of the pixel's rowand column address is 0 and to gain_2 when it is 1. When ckbd is notset, gain_1 is used on the first frame and gain_2 on the second frame.(When sfm (second frame only) is set and ckbd is 0, gain_2 is used.)

tbo: Ten bit output mode—Causes all 10 bits of the a/d output to besent, if cbo is also set, the high 8 bits are the compressed value. Whentbo is not set, the high 8 bits, only, are transmitted. Note that eachbyte takes ten imager clock cycles and the data lines will always be setto bits 1 and 0 of the ADC value during the last two imager clock cyclesof the byte transmission period, regardless of the tbo or cbo values.Only eight SPSCLK clock cycles will be sent in the eight bit modes, withthe clock line idle for the last two bit times of a pixel. In 10 bitoutput mode, the 10 SPSCLK clock cycles will be issued per pixel.

cbo: Compressed bit output mode—causes the 10 bit to 8 bit log basedcompression to compress the ten bit a/d output into 8 bits which aretransmitted on the high 8 bits of the output.

obb Output bit control “b”—Causes MSC_OUT pin (referred to as the MISOpin in some documentation) to switch to its compliment state duringsensor integration periods and causes no response when it is not set.

oba: Output bit control “a”—sets the MSC_OUT pin (referred to as theMISO pin in some documentation) to default to 1 if it is 1 and to 0otherwise.

rsh: Row Shift—Causes the number of integration rows in a dual framemode to be reduced by one—to an odd number. This has the effect to movethe integration time to the next lower row and to allow the integrationtime to be advanced by single row increments. Before, because of thedual row processing in the dual frame mode, the integration time couldonly be increased in double row increments and the partial row settingcould only cover a major portion of one of those two rows leaving a onerow time gap in the integration time setting capability. Rsh must be 0when the integration time is less than 1 row (StartRow=LastRow) and whenthe sfm (second frame only) is set.

sfm: Single frame mode—sets the mode to single frame (second frameonly). This results in a single integration frame with row offsets andgain_2 applied as for the second frame in dual frame mode.

Byte 1: idac_iadc_ld

TABLE 8 bit 7 bit 6 bit 5 Bit 4 bit 3 bit 2 bit 1 bit 0 iadc iadc 6 iadc5 iadc 4 iadc 3 iadc 2 iadc 1 iadc 0 7

Description:

Current reference setting for the Imager ADC. Recommended default is 48(0x30).

Byte 2: idac_ibias_ld

TABLE 9 bit 7 bit 6 bit 5 Bit 4 bit 3 bit 2 bit 1 bit 0 unused unusedBias 5 Bias 4 Bias 3 Bias 2 Bias 1 Bias 0

Description:

Current Bias setting for the ADC. Recommended default is 14 (0x0e).

Byte 3: voffset_ld

TABLE 10 bit 7 bit 6 bit 5 Bit 4 bit 3 bit 2 bit 1 bit 0 psfd psfd 0adctest offset 4 offset 3 offset 2 offset 1 offset 0 1

Description:

pfsd 1: Power supply frequency divider bit 1. This enables quieting thepower supply during critical row sampling operation.

‘0’—normal‘1’—regulator clk stopped during row_enable (experimental)

pfsd 0: Select frequency of power regulator charge pump. This should beset to provide least RF interference. The oscillator divisor should beset so that the charge pump operates at approximately 2.5 MHz. (Set thisbit when using a 5 MHz resonator, clear it when using 10 MHz.)

‘0’—main clock divided by 4 for regulator‘1’—main clock divided by 2 for regulator

adctest: Analog Digital Converter Test—Setting this bit causes the Pixeldata to be replaced with the voltage input on VAA_PXL as the input tothe input to the ADC for testing.

voffset: Voltage Offset—This is the Voltage Offset for the DAC.Recommended default is 16 (0x10). Scaling for this value is 4 mV/bit,with a value of 16 corresponding to 0V.

Byte 4: Frame Control, Vreflo

TABLE 11 bit 7 bit 6 bit 5 Bit 4 bit 3 Bit 2 bit 1 bit 0 ffs irr iadcont Vreflo 3 Vreflo 2 Vreflo 1 Vreflo 0

Description:

ffs: First frame single—causes 0 additional integration frames to beadded on the first frame, the number of added integration frames setminus one on the second frame, and the full number of added integrationframes set for all frames after the first two

irr: image row reset—causes the frame to be reset without reading,essentially starting a long integration.

iad: image A/D—causes the frame to be read without resetting first,ending a long integration.

cont Continuous—Continuously take images and send data.

Vreflo Voltage Reference Low—ADC Low Voltage Reference—recommendeddefault is 6.

Byte 5: Gain_1

This gain is for the first half of an image or the even pixels of acheckerboard image. Gains are scaled as ⅛ of an F-Stop per bit. (8=gainof 1)

Byte 6: Gain 2

This gain is for the second half of an image or the odd pixels of acheckerboard image. Gains are scaled at ⅛ of an F-Stop per bit. Thisgain is used in Single Frame Mode.

Byte 7: NumFrames

The binary or ones compliment of the number of requested image frames.

Notes:

This is a ones complement number so to read a single frame set F to 254since the actual number of frames will be [255—NumFrames]. However, ifthe integration time is less than a row then NumFrames must be set to255 for a single frame, 256—{desired number of frames} in the generalcase.

Byte 8: NumIntegrationFrames

The binary or ones compliment of the number of integration frames. Therow/column counters are used to determine integration time as well asactual read/reset position. The integration frame counter allowsadditional full frames to be added to the integration time.

Notes:

This is a ones compliment number so to integrate over a single frame setNumIntegrationFrames to 254 since the actual number of integrationframes will be 255—NumIntegrationFrames.

Byte 9: LastRow

Last row of first image window in absolute coordinates. Valid values arefrom 0 to 183. The number of rows in each image will be equal to[LastRow−FirstRow+1].

Byte 10: StartRow

Starting row count of read row in absolute coordinates. Theimplementation is such that there is both a read row and reset rowcounter. Once set, these counters stay separated by the specified amountsince they are incremented in unison. The reset row always starts at row0. Specifying a small number for SR and large number for LR would mean alarge delta between reset and read and hence larger integration times.Valid values are from 0 to 183.

Notes:

StartRow=LastRow−{integration rows}. If StartRow=LastRow, thenintegration becomes pixel times only. Note also that in this case theNumFrames value must be adjusted. The value of StartRow must be greaterthan or equal to FirstRow, discussed next. When the rsh (row shift) bitis set the StartRow must be less than the LastRow.

Byte 11: FirstRow

First row of first window in absolute coordinates. Valid values are from0 to 183.

Notes:

The value of FirstRow must be less than or equal to the value ofLastRow.

Byte 12: RowOffset

Second window row offset relative to coordinates of first window. Thefirst row to be read in the second window is determined by the sum ofFirstRow and RowOffset.

Notes:

The value of RowOffset must be greater than the value of[LastRow−FirstRow] (may not overlap). The value of RowOffset must alsobe less than [184−LastRow] (Must fit on imager). This offset is alsoapplied in single frame mode (sfm=1 in byte 0)

Byte 13: LastColumn

Last column of first window that is sequenced through in absolutecoordinates. Note that this could be different than LastReadColumn.Valid values are from 0 to 255.

Notes:

If LastColumn is greater than LastReadColumn, then this will establishthe time between rows. Best results are obtained by keeping LastColumnas close as possible to LastReadColumn. This value must be greater thanLastReadColumn and it must be at least 3 greater than ResetColumn.LastColumn should typically be LastReadColumn+1.

Byte 14: ResetColumn

Reset column in absolute coordinates. This value establishes the sub rowintegration time of the image. ResetColumn=LastColumn−{integration pixeltimes} Valid values are from 0 to 252.

Notes:

The value of ResetColumn must be at least three less than LastColumnsince reset occurs on ResetColumn+2.

Byte 15: LastReadColumn

Last read column of first window in absolute coordinates. This valuesets the last column to actually read. This could be different than thelast column cycled through. Valid values are from 1 to 254.

Notes:

The value of LastReadColumn must be greater than FirstColumn. Seesection 6.0 Known Issues about column data offset, which requires thisvalue to be set one higher than otherwise expected.

Byte 16: FirstColumn

First column of first window in absolute coordinates. The column is bothsequenced through and read. Valid values are from 0 to 252.

Notes:

The value of FirstColumn must be less than or equal to LastReadColumn.

Byte 17: ColumnOffset

Second window column offset relative to coordinates of first window. Thefirst column to be read in the second window is determined by the sum ofFirstColumn and ColumnOffset. Valid values are from 0 to 255.

Notes:

The offset is applied only when reading one frame, when SFM=0 (byte 0).

The exposure time is defined as the time from the reset of a pixel untilthe time that pixel is read out. To establish a desired exposure timefor each pixel two sets of counters are used: one for resetting(starting exposure) and one for reading (ending exposure). Each set ofcounters contains a frame counter, and row counter, and a pixel (orcolumn) counter. The pixel counter is incremented each pixel time (10clock cycles) unless it is equal to the LastColumn value in which caseit is set to the FirstColumn value. At this rollover point, the rowcounter gets incremented. If the row counter would increment past theLastRow value, it is set to the FirstRow value. The frame counter isincremented when the row counter equals the LastRow value. When itreaches zero the scan (either reset or read) is completed.

The sets are initialized differently: The reset counters getting set to0xFF, FirstRow, First Column for the frame, row, and pixel counters. Theread counters are set to the NumIntegrationFrames, StartRow, andResetColumn respectively. Additional counters and logic handle the dualframe, row shift, multiple images, and other variations. As the readcounters point to a pixel while the frame counter equals 0xFF, the datais transmitted to the host. Once all of the data is sent, the paritybyte is sent.

The finest granularity of exposure time is the PixelTime. One PixelTimeis one-tenth of the crystal frequency. 8 data bits+2 bits spacing. Everyexposure setting has at least 2 PixelTime resulting in a 2 PixelTimestep whenever crossing integration boundaries (ex. sub row time to rowtime). The following are the equations that govern the integration timesfor the single window mode.

#cols=LastReadColumn−FirstColumn+1

#rows=LastRow−FirstRow+1

intpix=LastColumn−ResetColumn

introw=LastRow−StartRowCount

intframe=255-NumIntFrames

PixelTime=Clock Period*10(1 μs@10 MHz,2 μs@5 MHz)

RowTime=#cols+(LastColumn−LastReadColumn+4)

FrameTime=#rows*Rowtime

Exposure=PixelTime*[intpix+(RowTime*introw)+(Frametime*intframe)]

In the dual window mode (when either RowOffset (byte 12), orColumnOffset (byte 17) are non-zero), the following are the equationsthat govern the integration times.

#cols=LastReadColumn−FirstColumn+1

#rows=2*(LastRow−FirstRow+1)

intpix=LastColumn−ResetColumn

introw=2*(LastRow−StartRowCount)−rsh

intframe=255-NumIntFrames

PixelTime=Clock Period*10(1 μs@10 MHz,2 μs@5 MHz)

RowTime=#cols+(LastColumn−LastReadColumn+4)

FrameTime=#rows*Rowtime

Exposure=PixelTime*[intpix+(RowTime*introw)+(Frametime*intframe)]

The sampling of a row of pixels takes place in four added pixel timesbeginning during the last scanned pixel time for the preceding row andextending for three more unaccounted for pixel times. Then there is oneadditional unaccounted for pixel time before the first pixel time duringwhich the first pixel of the row is read into a pipeline a/d which takes8 pixel times to present the finished reading. This is where the +4 inthe above calculation of row time comes from. The last read column mustbe at least one less than the last scanned column. This may be increasedto at least eight less than the last scanned column to assure thatpartially finished results are not sitting in the pipeline a/d duringthe four pixel read row period while the pipeline a/d is shut down. Therow requires a processing time equal to the number of the last scannedcolumn minus the number of the first scanned column+5. The resetprocessing requires two additional reset processing periods after theassigned reset column, the implication being that the pixel reset columnmust be at least three less than the last scanned column. The reset rowperiods do not interfere with the normal integration period or the readpixel operation which may be in progress. Due to the row sampling methodused, the actual effective integration period extends approximately fromthe time the row is reset to the time of the first pixel of the row inwhich row is read.

A temperature reading can be obtained by reading the four columns 0through 3. A difference between the second and fourth columns values(converted to 10 bits) multiplied by 0.367 and added to 113 yields thetemperature in degrees Celsius. These values assume a gain of one anddefault or standard analog settings. In practice, many rows should beaveraged together to more accurately derive temperature.

After transmitting the image data requested, a parity byte will betransmitted. This byte is the result of “Exclusive OR” of all of thedata sent as part of the image with 30 (0x1E).

Turning now to FIGS. 8 a through 8 c, an embodiment of an enhancedtransceiver 809 a, 809 b, 809 c is described with interconnectionbetween an imager board 835 a and a processor 808 a. The chip isdepicted as comprising: a processor interface logic block 865 a; a firstread address 866 a; a second read address 867 a; a 32,768 byte, 8-bitwide, dual port memory 868 a; an incoming data logic block 869 a havinga write address; an LVDS transceiver 870 a; a NSS connection 871 a, 871b, 871 c; a MOSI connection 872 a, 872 b, 872 c; a NCMND connection 873a, 873 b, 873 c; a SPSCLK connection 874 a, 874 b, 874 c; a MISOconnection 875 a, 875 b, 875 c; a READY connection 876 a, 876 b, 876 c;a NRESET connection 877 a, 877 b, 877 c; a SNSS connection 879 a, 879 b,879 c; a DATA+ connection 880 a, 880 b, 880 c; a DATA− connection 881 a,881 b, 881 c; a DCLK+ connection 882 a, 882 b, 882 c; a DCLK− connection883 a, 883 b, 883 c; a LVDS direction line 884 a; a LVDS source selectline 885 a; a serial command data line 886 a; a serial command clockline 887 a; control signals 888 a; register data 889 a; an Imosi line890 a; an Ispclk line 891 a; a 2.5 VDC connection 892 b, 892 c; a GNDconnection 893 b, 893 c; a V_(AA) _(—) LVDS connection 894 c and aV_(SS) _(—) LVDS connection 895 c. It should be understood that the SNSSconnection 879 a, 879 b, 879 c may not route through the enhancedtransceiver, rather the SNSS connection is directly from a processor toan imager. In a preferred embodiment, the enhanced transceiver isconfigured to function somewhere between a truly random access memoryand a first-in-first-out (FIFO) memory. For example, in a first framesingle mode the enhanced transceiver provides the ability to create asynthetic high dynamic range image effect by making at least a portionof a first image and at least a portion of a second image available to aprocessor. Preferably, the imager only needs to receive one commandinstruction to transmit the two images. It should be understood that anenhanced transceiver and, or, imager may be configured to provide accessto more than two different images. These features are useful when theassociated vision system comprises algorithms that utilize pixels frommore than one image such as in moisture detection systems that acquireat least one image without supplemental illumination and one withsupplemental illumination. Exterior light control systems that acquireat least one image at a first integration period and at least one imageat a second integration period. The successive images are acquired veryclose in time when no intervening command instruction is required. Itshould also be understood that a processor may be integrated along withthe LVDS and memory of the enhance transceiver. Alternatively, imagepre-processing features may be incorporated into the enhancedtransceiver. For example, the enhanced transceiver may create asynthetic high dynamic range image, it may provide light sourceextraction functions, it may provide light source classificationfunctions, subcombination thereof or combinations thereof. It is withinthe scope of the present invention to provide at least one imager, atleast one enhanced transceiver, at least one processor, a subcombinationthereof or combination thereof on a common board and, or, silicon wafer.

The following example describes a preferred embodiment of an enhancedtransceiver.

Example Enhanced Transceiver

The ENHANCED TRANSCEIVER serves as a bi-directional Low VoltageDifferential Signal (LVDS) transceiver for serial clock (SPSCLK) anddata (MOSI) signals. The chip provides 32768 bytes of memory to bufferimage data sent from the image sensor after image acquisition and toallow the processor to read this image data asynchronously. The chipprovides a 5V tolerant interface with the processor. The chip providesmemory access functions that facilitate dual image processing, resultstorage, and memory testing as described herein. The chip provides aparity calculation to verify proper transmission from an imager.

Table 12 depicts the enhanced transceiver operating modes along withstatus of related chip connections.

TABLE 12 Operating Modes Mode NSS NCMND Loop Back MOSI MISO DCLK andDDATA SSNS Imager L H — To LVDS to Inactive From MOSI to Imager LInstruction Imager Image H H 0 Inactive Read From From Imager To MemoryH Reception Memory Loop back H H 1 To Memory Read From High Impedance HMode Memory Status H L — Inactive Register From Imager to Memory Hcontents Command L L — To Registers Inactive High Impedance H thenMemory

When transitioning between modes the lines should be switched insequence to prevent accidentally entering Imager Instruction mode whichwill cause unwanted interference from the imager.

At the start of every image acquisition cycle, an 18 byte controlinstruction is sent from a processor to the imager. It should beunderstood that the enhanced transceiver is capable of transmittingother length control instructions, the imager of the example containedherein happens to utilize an 18 byte control instruction. The NSS (NotSlave Select) line is set low and the NCMND (Not Command) line is sethigh during this transmission. In this mode, the enhanced transceivershould serve only to convert the signals from the microcontroller toLVDS for transmission to the imager. The LVDS transceiver should be setto output data. The MOSI signal from the microcontroller is output onthe DDATA+/DDATAI− LVDS pair. The SPSCLK from the microcontroller isoutput on the DCLK+/DCLK− pair. The imagers NSS line should be drivenlow in this mode. After the integration cycle is complete, the imagerwill transmit the acquired image over the MOSI & SPSCLK differentialpairs to the enhanced transceiver. When NSS is high the LVDS transceiveris set to input data. The incoming data logic block should serve toreceive the incoming serial data stream and store each byte to memory,incrementing the write memory location with each byte. See also thedescription of Loopback mode below. The processor is responsible formanaging image requests and memory usage. Overflow conditions will causeloss of data.

When the loop back control bit is set and NSS and NCMND lines are highthe serial data stream is sourced from the MOSI and SPSCLK lines fromthe processor rather than the LVDS transceiver.

The processor will read data from the enhanced transceiver memoryasynchronously from data reception. The NSS and NCMND lines are set highin this mode. Data is read in a first-in-first-out (FIFO) order. Theprocessor can monitor the READY signal to determine if there is dataavailable. Note that the state of the ready line does not affect theoperation of the reading. Independence from the ready logic permitsusing the memory as general purpose serial RAM with auto-incrementingpointers without regard to the ready logic. The processor receives thedata by clocking the SPSCLK line, which clocks the data out serially onthe MISO line. When the loop back control bit is set the data on theMOSI line is stored into the memory simultaneously using the same clockedges. Command bits can also be used to select which of two readpointers are used to access data.

When the NSS and NCMND lines are both low, the data sent from theprocessor is stored into a command register, the read and write pointerregisters, and into memory. Details of the various command bits andcommand sequences are provided later in this document. No clock or datasignals are sent out the LVDS lines in this mode, the LVDS lines areactively held idle (high) by the imager during this state.

When the NSS is high and NCMND line is low, the parity test bit andwrite pointer is latched and shifted out to the processor using theSPSCLK and MISO lines. Additional reads will transfer the values of ReadPointer 1, Read Pointer 2, command register, and parity register. Thereception of data from the imager is not affected in this state. Thiscombination should not be needed when the loop back bit is set.Requesting status in Loop Back mode is not defined.

A reset line is provided as an input to the enhanced transceiver. Whenreset is set low, the chip is set to an “empty” state (Write pointer to7FFF hexadecimal, read pointers to 0. All internal registers and memorypointer counters should be initialized. Read Pointer 1 will be selected.

While operating in Image Reception and Status Modes, the Ready line willbe set high when new data is written into the memory. It will be clearedwhen the last byte written is read by the processor. It also will becleared when setting the alternate bit in the command register. Whenoperating in the alternate read modes, care should be taken to set theread pointers so that the write pointer will not be incremented past aread pointer if the ready line is set.

When the Alternate bit is set in the command register, the data outputduring reading alternates which read pointer is used to read the memory.If the first byte if read using read pointer 1, the next byte will beread using pointer 2 and so on. This mode permits simultaneousprocessing of two images.

When the first byte of an imager command is sent, the parity register isset to 14 (0xe). Each byte received during Image Reception mode is thenexclusive-ORed with the Parity Register. When the chip is set to Statusmode, the first bit transmitted (MSB of the Write Pointer) will be setto one if the parity register is equal to zero.

The maximum instruction data clock rate is 10 MHz. The maximum imagedata reception clock rate is 10 MHz (1 μs/byte). The maximum processordata read clock rate is a function of the interconnection transmissioncapability, preferably greater than 12 MHz.

All data is sent most significant bit first. All data is clocked on therising edge of the appropriate clock. MISO and MOSI data are clocked bythe SPSCLK signal, while the LVDS DATA lines are clocked using the DCLKlines. All data is processed in bytes. Reception of partial bytes mustbe avoided. Pointer register values are transferred as two bytes withthe first bit being don't care followed by the fifteen bit value, mostsignificant bit first. The exception to this is the use of the first bitof the write pointer for the parity check function.

The enhanced transceiver may be configured to operate from a single 2.5VDC supply. FIGS. 8 d and 8 e depict the associated processor signalwaveforms and LVDS signal waveforms, respectively. The first bytereceived from the microcontroller after entering command mode is thecommand byte. If required, a value for the pointer register is receivedin the next two bytes. Any additional bytes sent while command mode isselected will be written to memory using the write pointer register.Tables 15 and 14 depict details of the associated enhanced transceivercommand byte.

TABLE 13 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 Loop AlternateSelect Load (spare) Write Read Read back register reg. register reg 2reg 1

TABLE 14 Bit Descriptions Bit Bit Name Description 0 (0x1) Read Reg. 1Indicates that the primary read pointer will be loaded or selected. 1(0x2) Read Reg. 2 Indicates that the secondary read pointer will beloaded or selected. 2 (0x4) Write Reg. Indicates that the write pointerwill be loaded. 3 (0x8) (not used) 4 (0x10) Load Reg. When set theaddress sent next will be loaded into the selected register(s). 5 (0x20)Select Reg. Setting this bit causes the read register indicated to beselected for reading in normal read mode. 6 (0x30) Alternate When set,the selection of which Mode pointer is used for reading alternates witheach data byte received 7 (0x40) Loop Back When set the microprocessorMISO Mode and SPSCLK lines will be used to feed data into memory whileclocking data out in normal read mode (NSS and NCMND high).

Table 15 depicts a series of example enhanced transceiver commands.

TABLE 15 Example Commands Command Value Parameters Description InsertData, reset 0x00 (at least one Raw data bytes are placed into FIFO as ifLoopback/Alternate byte of Raw they had come from an imager. Used formodes data) data storage and testing. Clears loop back and alternatebits as well. Set Read Pointer 1 0x11 2 bytes Stores a new value in thefirst read pointer Address Set Read Pointer 2 0x12 2 bytes Stores a newvalue in the second read Address pointer Set Write Pointer 0x14 2 bytesStores a value into the write pointer Address Set Multiple Pointers0x13, 2 bytes Stores a value for multiple pointers, as 0x15, Addressindicated by the least significant 3 bits. 0x16, See note below for moreinformation. 0x17 Select Read Pointer 1 0x21 none Selects the defaultread pointer as active Select Read Pointer 2 0x22 none Selects thealternate read pointer as active Set and Select 1 0x31 2 bytes Sets andselects the default read pointer Address Set and Select 2 0x32 2 bytesSets and selects the alternate read pointer Address Set Alternate Mode 10x61, 0x61: none, Set the active read pointer to alternate 0x71 0x71:with each byte read, starting with the Address default pointer. SetAlternate Mode 2 0x62, 0x62: none, Set the active read pointer toalternate 0x72 0x72: with each byte read, starting with the Addressalternate pointer. Loopback Data 0x80 (normally at First Raw data bytesare placed into FIFO least one as if they had come from an imager. byteof Raw During subsequent normal data reads data) (NSS lines high) theMOSI data coming from the processor is written into the memory. Thiswill provide a faster memory test or provide for processed image data tobe stored while reading.Typical usage examples.

The following assume starting from a reset or empty pointer states: noloop back or alternate bits set, NReset, NSS, and NCMND bits High.

-   1) Gather One Image from the imager    -   a) Set NSS Low    -   b) Send Imager Commands    -   c) Set NSS High    -   d) Get Imager Data. Wait while READY low, read data when READY        high.-   2) Gather multiple images, normal reading:    -   a) Set NSS Low    -   b) Send Imager Commands    -   c) Set NSS High    -   d) Get Imager Data. Wait while READY low, read data when READY        high.    -   e) Periodically set the NCMND bit low at the expected time of        completion of image data. Get the Write address and compare with        the expected length.    -   f) Once the preceding image has completed transferring to the        FIFO, steps a-c can be repeated to start another image. Care        must be taken to not fill the memory to a point where the write        pointer passes the read pointer. The registers will roll over,        but there is a physical limit to the chip-   3) Gather image (or two images from one command) processing two    halves of the data together using the Alternate Mode    -   a) Set the NCMD bit Low    -   b) Set NSS Low    -   c) Sent the Alternate Mode command byte indicating a load of        read pointer 2 (0x52).    -   d) Calculate the Read Pointer 2 value from the known value of        the Write Pointer. (ReadPtr2=WritePtr+1+Length of First part)    -   e) Send the Most significant byte of Read Pointer 2    -   f) Send the Least significant byte of Read Pointer 2    -   g) Set the NCMND line High.    -   h) Send Imager Commands    -   i) Set NSS High    -   j) Repeatedly set the NCMND bit low. Get the Write address and        compare with the value set for Read Pointer 2. Set NCMND High.        Once the write pointer has advanced past Read Pointer 2 continue        on to the next step.    -   k) Read data, monitoring the ready line for data availability.        The first byte read will be the first byte received from the        first image request. The second byte received will be accessed        using Read Pointer 2.-   4) Gather two images processing them using the Alternate Mode    -   a) Set NSS Low    -   b) Send Imager Commands    -   c) Set NSS High    -   d) Repeatedly set the NCMND bit low. Get the Write pointer value        and compare with the expected length. Set NCMND High if not        done.    -   e) Once the initial image has completed transferring to the        FIFO, set NCMND Low.    -   f) Set NSS Low to enter command mode    -   g) Sent the Alternate Mode command byte indicating a load of        read pointer 2 (0x52). This will set the READY line Low when        returning to read mode.    -   h) Calculate the Read Pointer 2 value as one past the Write        Pointer. (ReadPtr2=WritePtr+1)    -   i) Send the Most significant byte of Read Pointer 2    -   j) Send the Least significant byte of Read Pointer 2    -   k) Set the NCMND line High.    -   l) Send Imager Commands for second image.    -   m) Set NSS High.    -   n) Read data, monitoring the ready line for data availability.        The first byte read will be the first byte received from the        first image request. The second byte received will be the first        byte of the second Image.-   5) Use Loopback Mode to perform a memory test    -   a) Set NSS and NCMND Low.    -   b) Send the Loopback mode command (0x80).    -   c) Send the first byte of the memory test. Additional bytes        could be sent as well.    -   d) Set NSS and NCMND High.    -   e) Send the next test values while reading the previous test        values until done.    -   f) Set NSS and NCMND Low.    -   g) Send the Normal mode command (0x00).    -   h) Set NSS and NCMND High.    -   i) Read the last byte to reset the Ready signal and pointers to        the empty state.-   6) Use Loopback and Alternate modes to process two images, storing    an intermediate result on the chip. The maximum size images in this    mode are 8191 if the original data needs to be retained and 10923 if    the images can be overwritten by results.    -   a) Set NSS Low    -   b) Send Imager Commands    -   c) Set NSS High    -   d) Repeatedly set the NCMND bit low. Get the Write pointer value        and compare with the expected length. Set NCMND High if not        done.    -   e) Once the initial image has completed transferring to the        FIFO, set NCMND Low.    -   f) Set NSS Low to enter command mode    -   g) Sent the Alternate command byte indicating a load of read        pointer 2 (0x52).    -   h) Calculate the Read Pointer 2 value as one past the Write        Pointer. (ReadPtr2=WritePtr+1)    -   i) Send the Most significant byte of Read Pointer 2    -   j) Send the Least significant byte of Read Pointer 2    -   k) Set the NCMND line High.    -   l) Send Imager Commands for second image.    -   m) Set NSS High.    -   n) Wait for the second image to be complete by monitoring the        Write Address.    -   o) Read the first pixel of data from each image.    -   p) Go to Command Mode (NCMND and NSS Low), send Alternate        Loopback (0xC0). Set NSS and NCMND High.    -   q) Perform required operations on Pixel data, Prepare two bytes        of results to output to Queue.    -   r) Read next two pixels of data while transmitting results        calculated.    -   s) Continue until done reading data.    -   t) Go to Command Mode, Send Normal (0), Set NSS and NCMND bits        high.    -   u) Note that the last two results could be put into the Queue if        needed, but since these are likely to be the sum check, it is        unlikely that these results are needed.        Continue to Read and process the result data.

A first embodiment of a mother board/imager board interconnection isshown in FIG. 9 a. An image sensor chip 901 a communicates with aprocessor 902 a over a common bi-directional synchronous serial bus. Thebus contains three signals: NSS 903 a (NOT Slave-Select), MOSI 904 a(data Master-Out-Slave-In), and SPSCKL 905 a (serial clock). The NSSsignal is uni-directional and allows the microcontroller to indicate tothe image sensor if it is a bus slave (high-impedance input forreceiving data) or a master (transmitting data). The microcontroller canset NSS low and send instructions to the image sensor for imageacquisition over the MOSI and SPSCLK lines. When NSS is set high, theimage sensor executes image acquisition according to the instructionsand returns the image data over the bus. The bus signals are typicallyoperated at CMOS logic level for the power supply used, typically 5.0Vor 3.3V.

Another embodiment of a mother board/imager board interconnection shownin FIG. 9 b, utilizes bi-directional low-voltage-differential-signaling(LVDS) for communication between the image sensor 901 b and theprocessor 902 b. With this method, digital signals MOSI 904 b and SPSCLK905 b are converted to differential pairs 910 b and 911 b by LVDStransceiver blocks 906 b, 907 b, 908 b, and 909 b. LVDS signals provideseveral advantageous. First, the use of a differential pairsubstantially increases noise immunity and is far more tolerant to anyground reference difference between the imager and the microprocessor.Secondly, the lower voltage signals (about −0.3V to +0.3V) emitsubstantially less electromagnetic interference than 5.0V or 3.3Vdigital signals.

An exemplary LVDS transceiver block is shown in FIG. 9 j. A FairchildSemiconductor FIN1019 LVDS driver 901 j is used. Data signal 904 j maybe either a MOSI signal or an SPSCLK signal. The NSS signal 903 j 1indicates the direction of data transfer. D+ and D− signals form adifferential pair 910 j 1, 910 j 2. In the example shown in FIG. 9 b,the polarity is set for the image-sensor side transceivers 906 b, 907 b.Thus, when NSS is low, data reception is enabled. For the controllerside transceivers 908 b and 909 b an opposite polarity signal isprovided to driver's 901 j DE and NRE inputs by the controller. In thisand other embodiments, imager instruction and parameter data iscommunicated over the same bi-directional bus as the acquired digitalimage.

It is also possible to provide two unidirectional busses, one forproviding instructions and parameters from the processor to the imagesensor and a separate bus for transmitting image data from the imagesensor to the processor. In this case, the instruction and parameter busmay not have the high data rate requirements of the image data bus andtherefore may be implemented using a simple technique such as a UART.The image data bus may be a unidirectional high speed digital bus, suchas an LVDS bus, or may even be an analog signal, such as the common NTSCvideo standard, which is then digitally sampled at the processor.

FIG. 9 c illustrates an embodiment similar to that of FIG. 9 b. However,in the FIG. 9 c embodiment the image sensor side LVDS transceivers areintegrated into the imager 901 c along with the other components of thisdevice. This integration reduces the part count, component cost, andimager board area associated with the image sensor side LVDStransceivers 906 b, 907 b. As shown, the processor 902 c side LVDStransceivers 908 c, 909 c remain with respective data 910 c, clock 911 cand NSS 903 c interconnections. It should be understood thatcommunication protocols such as a serial bus, LVDS serial bus, aparallel bus, a UART, optical fiber, SPI bus, IIC bus, CAN bus, J1815bus, LIN bus, MOST bus, USB, fire-wire, or even a wireless link (e.g.Bluetooth) may be used to transmit data from the imager to theprocessor, from the processor to the imager and two individualcommunications connections can be employed with one forimager-to-processor communication and a second for processor-to-imagercommunication.

There are several applications where multiple image sensors may beutilized. For example, automatic vehicle exterior light control andmoisture sensing are both applications which can be performed utilizingimage sensing and processing. However, the optical requirements of bothfeatures are substantially different. An exterior light control imagingsystem must be designed to image small light sources at a distance andprovide some color discrimination. A moisture sensing imaging systemtypically images a surface of a windshield. To better image the surfaceof a windshield, it is advantageous to tilt the image sensor forward.Furthermore, it is advantageous to provide supplemental illumination foran image sensor (such as an LED) and optionally to limit the spectralsensitivity of the imaging system to the spectral band of theilluminator. Specifically, it is most advantageous to use an infrared(IR) LED which is not visible to the vehicle driver or passengers andlimit the sensitivity of the imaging system to the IR spectrum. As aresult, the preferred optical configurations of a moisture sensingimaging system are often incompatible with the preferred opticalconfigurations of an exterior light control imaging system, at leastthrough means which are economical for wide adaptation of both features.Other vehicle imaging features may also be combined with exterior lightcontrol, moisture sensing or they may be incorporated with each other.These features may include but are not limited to: adaptive cruisecontrol, collision warning or avoidance, weather condition detection,lane departure warning, blind spot warning, night vision, and driverdrowsiness detection. Some of these features may be combined with eachother utilizing a single image sensor and some may be combined throughthe use of multiple image sensors.

Another useful application requiring multiple image sensors isstereoscopic imaging. A stereoscopic imaging system utilizes at leasttwo image sensors spaced apart from each other. The parallax effectcauses objects at different distances to be imaged with differentdisplacements relative to each other onto each image sensor. Verydistant objects will be imaged onto the same location on each sensor.This effect can be used to obtain an accurate measurement of thedistance of an object. This stereoscopic principle can be used formoisture sensing as described in commonly assigned U.S. Pat. Nos.5,923,027 and 6,617,564 and U.S. patent application Ser. No. 09/970,728,the disclosures of which are incorporated in their entireties herein byreference, exterior light control, or any of the previously mentionedapplications.

FIG. 9 d illustrates an embodiment of the present invention whichprovides a highly economic means of providing a vision system includingtwo or more image sensors. Two image sensors 901 d 1, 901 d 2 areprovided on printed circuit board 950 d. Components common to both imagesensors such as power supply 921 d and oscillator 920 d may be shared toreduce cost. Image sensors 901 d 1, 901 d 2 share a common bus forcommunication with a processor 902 d which comprises signals MOSI 904 dand SPSCLK 905 d. Each image sensor is preferably provided with its ownenable/direction signal NSS 903 d 1, 903 d 2.

Operation proceeds as follows: In order to acquire an image from imagesensor 901 d 1, image sensor 901 d 2 output is disabled and placed in atri-state input mode by setting NSS-2 903 d 2 low. Instructions areloaded into image sensor 901 d 1 from the microcontroller by settingNSS-1 903 d 1 low while communicating instructions to image sensor 901 d1 over MOSI 904 d and SPSCLK 905 d signals. After instructions areloaded, NSS-1 903 d 1 is set high allowing the acquisition process tobegin and enabling output from image sensor 901 d 1. During this entireperiod NSS-2 903 d 2 remains low. When acquisition from image sensor 901d 1 is complete additional images may be acquired from image sensor 901d 1 or images may be acquired from image sensor 901 d 2.

To acquire images from image sensor 901 d 2 signal NSS-1 903 d 1 is setlow disabling output from image sensor 901 d 1. Next, NSS-2 903 d 2 isset high and then low to reset the image sensor and enable instructionloading. Image instructions are then communicated to image sensor 901 d2 over signals MOSI 904 d and SPSCLK 905 d. NSS-2 903 d 2 is then sethigh enabling acquisition and readout of the image from image sensor 901d 2. During the entire process of acquiring images from image sensor 901d 2, NSS-1 903 d 1 remains low.

The above process may continue indefinitely and in any order. Imageacquisition may alternate between imagers or each imager may takemultiple images sequentially. The use of each imager may depend upon theactivation of features for which each imager is configured. Also, anynumber of image sensors may be provided on the common bus by adding thecorresponding number of NSS lines.

The present invention may also be implemented with a variety of busschemes. For example a parallel bus may replace the serial bus. The busmay also be an radio frequency interconnection, a light rayinterconnection, or a fiber optic interconnection rather than ahardwired interconnection. The present invention comprises a shared busfor communication between one or more image sensors and one or moreprocessors and means for selecting an image sensor. The means forselecting an image sensor may be through discrete signals, such assignals NSS-1 and NSS-2, through an address bus, or through an addressor identifier sent over the data communication bus. The later examplemay be implemented for example by sending and identifier/commandinstruction over the bus. An identifier allows each imager to determineif it should respond to the following command. The command may be animage acquisition instruction or a “go-to-sleep” instruction. A“go-to-sleep” instruction would allow the disabling of the imagesensor(s) not acquiring images to prevent any bus interference with theactive sensor. Non active image sensors would become active when anacquisition instruction is issued for the sensors address. Image sensoraddresses may be set in hardware through digital inputs which are wiredeither high or low to set the address. This way each image sensor may begiven a unique address.

While the embodiment of FIG. 9 d shows image sensors 901 d 1 and 902 d 2co-located on a single circuit board, the present invention can also beimplemented with image sensors located on different circuit boards oreven in different general locations on, or in, a vehicle. In thesecases, it may not be convenient to share some components such as voltageregulator 921 e and oscillator 920 e, however the use of a common busstill provides economic advantage. When combining a moisture sensor withanother function it may be necessary to incline the moisture sensorimaging plane while leaving the other imaging sensor such that theimaging plane is perpendicular to plane of the road. Several methodswill facilitate this. The moisture sensor imager may be provided on aseparate circuit board connected to the other circuit board throughwires or flex circuit. The moisture sensor may be provided on abreak-away section of the circuit board. Such a configuration wouldallow the image sensor sub-assembly to be manufactured on a flat circuitboard and then the portion of the board containing the moisture sensorimager can be broken off and bent at the appropriate angle. Electricalconnection may be maintained through wire jumpers. Finally, the imagesensor sub-assembly may be manufactured on a flexible circuit boardallowing the two image planes to be different.

The embodiment of FIG. 9 f is similar to that of FIG. 9 d except thatsignals MOSI 904 e and SPSCLK 905 e from processor 902 e are convertedto differential pairs 910 e, 911 e as described before in reference toFIGS. 9 b and 9 c using LVDSs 908 c, 909 c, respectively. The embodimentshown in FIG. 9 e is drawn such that each image sensor contains a LDVStransceiver, however external transceivers can also be used. In thiscase, the transceivers may be shared by the image sensors.

The embodiment of FIG. 9 f illustrates a multiple processor solution. Inthis embodiment, a second processor 930 f communicates with one or moreimage sensors 901 f 1, 901 f 2 and performs some or all of the imageprocessing associated with these sensors. Processor 930 f communicateswith main processor 902 f which may be located remote from imager board.The data communicated may be entire images, a subset of the images,compressed images, the results of pre-processed images, or a decision onan action to take based upon processing of at least one image. Mainprocessor 902 f may communicate to second processor 930 f variousinformation such as parameters for processing, activation of variousfeatures, and vehicle status information. Main processor may perform aportion of the image analysis, or may make a control decision based uponinformation communicated from second processor 930 f. The main processor902 f may also perform communication with the vehicle either throughdiscrete wiring or through a bus such as the CAN bus. Main processor 902f may also perform other functions such as control of an electro-opticmirror. It is also contemplated that main processor 902 f may be acentral processor, such as a “body controller”, which is typicallyresponsible for multiple vehicle equipment functions. In this way secondprocessor 930 f can be responsible for the computation and dataintensive image analysis tasks and main processor 902 f may determineand execute a final control decision based upon the results ofprocessing from 930 f and possibly other vehicle information. Voltageregulator 924 f and oscillator 920 f may be provided.

Communication between main processor 902 f and second processor 930 fmay be through a variety of means. Since the entire raw image data isnot necessarily transmitted from second processor 930 f to mainprocessor 902 f this communication link may be more flexible and ofpotentially lower bandwidth than the communication links between theimager and the processor. Example communication links include: a serialbus, LVDS serial bus, a parallel bus, a UART, optical fiber, SPI bus,IIC bus, CAN bus, J1815 bus, LIN bus, MOST bus, USB, fire-wire, or evena wireless link (e.g. Bluetooth).

Second processor may be a microcontroller, digital signal processor(DSP), field-programmable gate array (FPGA), complex programmable logicarray (CPLD), application specific integrated circuit (ASIC), or thelike. It is also possible to integrate second processor 930 f with oneor more image sensors 901 f 1, 901 f 2. In a preferred embodiment secondprocessor is implemented with an FPGA such as a Cyclone™ series FPGAavailable from Altera Corporation of San Jose, Calif. Such a deviceprovides sufficient I/O to communicate with each of one or more imagesensors 901 f 1, 901 f 2 independently and thus allow simultaneousoperation of each imager. Communication with each imager may be serial(optionally LVDS) or parallel. The FPGA may be programmed to implement amicroprocessor to execute image analysis software.

Significant performance improvement in image analysis algorithmexecution can be gained by using an FPGA over a conventional DSP ormicrocontroller. Increases in computational capability and efficiencymay allow the use of higher resolution arrays or the implementation ofmore sophisticated algorithms which may increase the performance of thesystem. Higher performance may allow simultaneous analysis of imageswith acquisition eliminating the need to store full images to memory andthus potentially reducing memory cost. Finally, higher performance andefficiency may also allow the provision of more functionality oradditional efficiency.

For a first example of the performance improvements realized with anFPGA consider a filter used in a moisture sensing application to detectedges which is implemented as a 3×3 kernel as described in U.S. Pat. No.6,923,027, entitled Moisture Sensor and Windshield Fog Detector Using anImage Sensor, commonly assigned and hereby incorporated by reference.Traditional software implementation of this filter requires sequentialmultiplication of a coefficient to neighboring pixels and accumulationof the products. This process must be preformed for every pixel in theimage thus resulting in a very computationally intensive algorithm. Withan FPGA, this filter may be implemented in digital logic, thus allowingparallel execution of the kernel computation and reducing overallprocessing time.

In a known exterior light control system, as described in commonlyassigned U.S. patent application Ser. No. 10/645,801, the disclosure ofwhich is incorporated in its entirety herein by reference, detection ofoncoming headlights and preceding taillights is accomplished by lookingfor brightness peaks in the image. Brightness peaks are detected bycomparing the grey scale value of the current pixels with itsneighboring pixels to determine if the current pixel is a peak. With aconventional microcontroller, these comparisons are typically madesequentially. Since the test is performed on every non-zero pixel, theprocess can be computationally time consuming. With an FPGA, thepeak-detect comparisons may be much more efficient by implementingparallel comparisons between the current pixel and its neighbors incircuitry, thereby increasing the performance of the device.

As a final example of the use of a FPGA consider the probabilityfunction based algorithms and neural network analysis techniquesdescribed in the previously referenced '879 patent application. Neuralnetwork implementation requires the computation of several dot-productsbetween an input vector and a weight vector. Each of these dot productsmust be computed by sequential multiply-accumulate operations on aconventional microcontroller or DSP. However, with an FPGA thecomputation of these dot products may be performed in parallel or atleast partially in parallel by implementing several multipliers whichoperate simultaneously. In smaller FPGAs sufficient resources may not beavailable to implement all the desired hard wired functions. However,these devices can be partially reprogrammed on-the-fly when differentfunctions are required. For example, the device can be programmed toimplement a kernel filter for moisture sensing and later reprogrammedimplement a peak-detect when headlamp control analysis is beingperformed.

FIG. 9 g illustrates another embodiment of a mother board/imager boardinterconnection supporting one or more image sensors 901 g 1, 901 g 2with a processor 930 g local to the image sensors. In this case, theimage sensors are connected by a common bus, similar to the embodimentsof FIG. 9 d, however, each image sensor is connected to the secondprocessor 930 f directly. As with the other embodiments discussedherein, multiple image sensors may share a power supply 924 g, anoscillator 920 g, a main processor 902 g and second processor 930 g.

Several commercially available image sensors utilize a parallel bus forcommunication of image data. These devices typically use a 4, 8, or 10bit wide bus. An example image sensor utilizing a parallel bus is a CIFformat image sensor part number MI-0111 available from Micron, Inc. ofBoise, Id. As shown in FIG. 9 h, one or more parallel bus image sensors901 h 1, 901 h 2 can be used more effectively when a second processor930 h is located on a common circuit board with the image sensors. Aswith the other embodiments discussed, multiple image sensors may share acommon bus 950 h, power supply 924 h, oscillator 920 h, a main processor902 h and a second processor 930 h. Multiple image sensors with aparallel bus may also be connected individually to second processor 930h as is the case with the serial bus image sensors shown in FIG. 9 f. Insituations where parallel bus image sensors are used and a secondprocessor 930 h cannot be mounted on a common circuit board, a flexcircuit cable may be used to connect the systems or a parallel-to-serialconverter IC, such as the National Semiconductor DS92LV1021 may be usedto convert the parallel data bus to an LVDS bit stream.

One disadvantage of the use of an LVDS serial bus as shown in FIGS. 9 b,9 c and 9 e over the single ended bus of FIG. 9 a is the increase in thenumber of wires required to transmit the signals. The additional wiresmay increase the cost of the related wiring harness and may make wirerouting more difficult. This limitation can be overcome by encoding theclock signal SPSCLK onto the same line as the data signal MOSI throughManchester coding or other similar means. In this case the transmittedbit rate is doubled in exchange for combining the clock or data into asingle signal. In most cases the doubled rate data can still be robustlytransmitted through an LVDS link. This embodiment is illustrated in FIG.9 i. The MOSI 904 i and SPSCLK 905 i signals are combined onto a singlesignal 942 i using a Manchester encoder/decoder 940 i. An exampleManchester encoder/decoder is part number HD-15530 available fromIntersol. Signal 942 i is converted to LVDS by transceiver 908 i andtransmitted to the imager subassembly. LVDS transceiver 906 i restoressingle ended signal 942 i and Manchester encoder/decoder 9411 restoressignals MOSI 904 i and SPSCLK 905 i. It is envisioned that LVDStransceivers 941 i or 940 i may be combined with Manchester encoders 906i or 908 i and either or both of these may be combined with the imagesensor 901 i or the processor 902 i. This scheme may also be appliedwith any of the previously disclosed embodiments including one or moreimage sensors and processors.

With reference to FIG. 10, another embodiment of an automatic vehicleequipment control system 1000 is depicted comprising a mother board 1005interconnected with an imager board 1035 via a mother board/imager boardinterconnection 1045. A breakaway board 1012 is depicted prior tobreaking away from the mother board. The mother board further comprisesa vehicle bus interface 1010, vehicle equipment connectors 1007, aprocessor 1008, a enhanced transceiver 1009, an ambient light sensor1011 and an electro-optic element drive circuit 1014. The breakawayboard comprises a glare light sensor. When broken away, the breakawayboard may be interconnected to the mother board as shown with regard toFIGS. 5 a and 5 b with reference to the glare sensor board 512 a.

Turning now to FIGS. 11 a and 11 b, another embodiment of a mother board1105 a, 1105 b is depicted to comprise all components mounted on a firstside 1105 a 1. Even the glare light sensor 1136 a, 1136 b is mounted tothe first side and is aligned with a hole through the mother board suchthat light rays are detectable in a desired direction generally rearwardof a controlled vehicle. As can be seen, there are no components mountedto the second side 1105 b 2. This configuration is preferable in regardto manufacturing of certain embodiments. The mother board furthercomprises an imager board interconnection connector 1106 a, vehicleequipment connectors 1107 a, a processor 1108 a, a enhanced transceiver1109 a, a surface mount ambient light sensor 1111 a, a reverse surfacemount glare light sensor 1113 a and an electro-optic mirror elementdrive circuit 1114 a.

Although the present invention has been described with reference tovarious embodiments and specific examples, it should be understood thatthe scope of the present invention should not be limited to the specificteachings herein. Equivalents may occur to one skilled in the art uponreading this detail description in light of the drawings and appendedclaims. The scope of the invention is intended to be construed in lightof the doctrine of equivalents as define in evolving case law.

What is claimed is:
 1. An automotive equipment control systemcomprising: at least one imager comprising: at least one image sensorconfigured to acquire an image; a first processor configured to analyzesaid image, such that a second processor can make a control decision inorder to automatically perform a vehicle equipment related functionbased on information communicated from said first processor configuredto analyze said image; and an interconnection configured to transmitdata between said imager and said first processor for analyzing saidimage; wherein said interconnection is configured to operate up to atleast one megabaud without emitting unacceptable electromagneticinterference.
 2. The automotive equipment control system of claim 1,wherein said interconnection is a low voltage differential signal (LVDS)interconnection.
 3. The automotive equipment control system of claim 2,wherein said LVDS is configured to have an approximately 300 mV swing.4. The automotive equipment control system of claim 1, wherein saidfirst processor is a field gate programmable gate array (FPGA).
 5. Theautomotive equipment control system of claim 1, wherein said firstprocessor is an application specific integrated circuit (ASIC).
 6. Theautomotive equipment control system of claim 1, wherein said vehicleequipment related function is an exterior light control system.
 7. Theautomotive equipment control system of claim 6, wherein said at leastone imager is further configured to acquire at least one image at afirst integration period and at least one image at a second integrationperiod.
 8. The automotive equipment control system of claim 1, whereinsaid at least one imager comprising multiple imagers for stereoscopicvision, such that two imagers are spaced apart from one another toprovide capability for accurate distance measurement of objects.
 9. Theautomotive equipment control system of claim 1 further comprising anilluminator configured to provide supplemental illumination.
 10. Theautomotive equipment control system of claim 9, wherein said illuminatorcomprising an infrared light emitting diode, which is not visible to thevehicle driver or passengers.
 11. The automotive equipment controlsystem of claim 1, wherein said vehicle equipment related functioncomprises collision warning or avoidance, weather condition detection,lane departure warning, and exterior light control.
 12. The automotiveequipment control system of claim 1, wherein said interconnection inconfigured for a data signal and a clock signal encoded onto a same linethrough Manchester coding.
 13. An automotive equipment control systemcomprising: at least one imager comprising: at least one image sensorconfigured to acquire an image; a first processor configured to analyzesaid image, such that a second processor can make a control decision inorder to automatically perform a vehicle equipment related functionbased on information communicated from said first processor configuredto analyze said image; and an interconnection configured to transmitdata between said imager and said first processor for analyzing saidimage; wherein said interconnection is a low voltage differential signal(LVDS) interconnection; wherein said vehicle equipment related functioncomprises exterior light control.
 14. The automotive equipment controlsystem of claim 13, wherein said interconnection is configured tooperate up to at least one megabaud without emitting unacceptableelectromagnetic interference.
 15. The automotive equipment controlsystem of claim 13, wherein said LVDS is configured to have at least anapproximately 300 mV swing.
 16. The automotive equipment control systemof claim 13, wherein said first processor is one of a field gateprogrammable gate array (FPGA) and an application specific integratedcircuit (ASIC).
 17. The automotive equipment control system of claim 13,wherein said at least one imager comprising multiple imagers forstereoscopic vision, such that two imagers are spaced apart from oneanother to provide capability for accurate distance measurement ofobjects.
 18. The automotive equipment control system of claim 13 furthercomprising an illuminator configured to provide supplementalillumination, said illuminator comprising an infrared light emittingdiode, which is not visible to the vehicle driver or passengers.
 19. Theautomotive equipment control system of claim 13, wherein said vehicleequipment related function further comprises at least collision warningor avoidance, weather condition detection, and lane departure warning.20. An automotive equipment control system comprising: at least oneimager comprising: at least one image sensor configured to acquire animage; a first processor configured to analyze said image, such that asecond processor can make a control decision in order to automaticallyperform a vehicle equipment related function based on informationcommunicated from said first processor configured to analyze said image;wherein said first processor is one of a field gate programmable gatearray (FPGA) and an application specific integrated circuit (ASIC), andan interconnection configured to transmit data between said imager andsaid first processor for analyzing said image; wherein saidinterconnection is a low voltage differential signal (LVDS)interconnection; wherein said interconnection is configured to operateup to at least one megabaud without emitting unacceptableelectromagnetic interference; wherein said vehicle equipment relatedfunction comprises exterior light control, collision warning oravoidance, weather condition detection, and lane departure warning.